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This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started...
Under the assumption that for the desired point, only the position states are known, a continuous state feedback unified control law is derived based on Lyapunov technique, sliding-mode approach and a lemma about non-vanishing disturbances, guaranteeing that the position errors globally exponentially converge to a small neighborhood of the origin, and are globally uniformly ultimately bounded despite...
This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is...
This paper investigates the position and curve stabilization problems of wheeled mobile robots with parameter uncertainties. Smooth state feedback control laws are derived by combining Lyapunov and back-stepping methods, guaranteeing asymptotic convergence of the robot to the given position or the desired geometric curve from an arbitrary initial state despite the uncertain parameters. Simulation...
This paper presents the kinematics modeling method of eight-wheel torsion bar rocker-bogie lunar rover. Forward kinematics modeling consists of the Jacobian matrices of the wheels, it could deduce the position and attitude of the rover. Inverse kinematics modeling could work out the speed of the wheels by using the speed of the rover, so as to get the anticipated position and attitude of the rover...
A roboticized rock abrasion tool is considered to replace the geologistpsilas rock hammer to remove dusty and weathered surfaces of the rock. A roboticicized rock abrasion tool with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and...
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